There have been many times in my life I have experienced both fear, and learning, at the same time. A rather simple example: I had a true phobia for much of my life concerning flying insects that could also "buzz" ... flies, bees, wasps, cicada, etc. It didn't matter how harmless, so long as I could hear them buzzing and see them flying I had a fear. The origin of this fear was even known to me, because I remembered clearly the experience I had as a child which caused it: my dad took me to a baseball game when I was about 5 years old, and had his arm around my shoulder while holding a cigarette in his hand. The cigarette began to burn into my shoulder, right near my neck (unbeknownst to him) and it caused me pain obviously as I shrieked and grabbed my neck. Instead of blaming it on the cigarette, my dad told me it was a bug

. That night at the game, we sat under one of the stadium lights in the stadium, and I watched all the swarms of summer bugs flying around the light, the whole time watching them and listening to them, terrified that one of them was going to come and bite into my neck again and burn it. As a result, anytime I saw a buzzing and flying bug ... I would instinctively grab my neck, try to pull my head down like a turtle, and go into fear mode. I would grow up to become the type of guy you would not expect to have this type of fear, and my buddies would often exploit it for their entertainment
In my 20's, I got a job on a commercial fishing boat, and the barrels of bait we used to bait the traps would often have swarms of bees around them. So while we were on the docks preparing our traps, the bees would swarm around us. Once we left the dock we would leave them behind, however while on the dock they were constantly there. This TERRIFIED me, and the first week or so on the job, I had to learn how to do my job and work, the entire time terrified of the bees. I tried to keep reminding myself that if I didn't freak out, they would not bite me, etc. I never did get bit once ... and eventually I helped to get over most of my fear, to where I no longer necessarily had that same reaction. Every now and then I will have reactions, but I am able to think it through and get over it.
That is one simple example of how I had to learn while afraid, and was able to do so. I can think of countless other examples as well ... from military scenarios, war zones, sporting competitions, to relationship fears, etc. Can fear block learning at times ? I think it obviously can. But imo it's rather obvious that a person can experience both fear and learn at the same time, and this is quite common. "Do it afraid", etc and so forth.